scholarly journals Inspection and control system for experiments in space robotics

2021 ◽  
Vol 2 (3) ◽  
pp. 4094-4104
Author(s):  
Glaydson Luiz B Lima ◽  
Osamu Saotome ◽  
Ijar M. Da Fonseca
Keyword(s):  
Data Processing ◽  
Computer System ◽  
Sensor Data ◽  
Robotic Arm ◽  
Space Robotics ◽  
Kinect Sensor ◽  
Space System ◽  
Position Detection ◽  
Dynamics And Control ◽  
And Control

The communication subsystem is one among the various subsystems of a telerobotic space system. It is responsible for coordinating the commands received from the teleoperator control subsystem to the robotic arm, for reading signals from the sensors, and for stating the communication of the telerobot  with the ground station. The telerobotic experiment under development by the ITA space robotics research group was developed with the purpose of investigating a robotic space system dynamics and control, including  the study of the  working and integration of all subsystems involved in the teleoperation control. The lab experiment consists of two identical units of robot manipulators, each of them mounted on its own floating air-supported  platform. The objective is to simulate computationally the operations of rendezvous and capture in the microgravity' orbital environment, emulated by the floating manipulators' dynamics. The closed circuit for this system involves the in time position detection, transmission and data processing by using a position-tracking (X, Y, and Z) computer system combined with a Kinect sensor (RGB-D). The computer system comprises two computers  capable of processing the positional images with greater accuracy. One of them receive and send the sensor data to a second computer which performs the data processing by proper algorithms in Matlab® and Simulink and sends commands to the robotic arm via WIFI (UDP protocol) network. The robot receives and executes the control signals moving the robotic arms whose position is again detected by the kinect sensor and informed back to the computer system, closing the  control mesh and allowing the safe capture of the target. This work deals with the communication subsystem of the space robot experiment and its ability to set an integrated and efficient communication satisfying the telerobot control requirements

ROKVISS - Space Robotics Dynamics and Control Performance Experiments at the ISS

2004 ◽  
Vol 37 (6) ◽  
pp. 333-338
Author(s):  
Bernd Schäfer ◽  
Bernhard Rebele ◽  
Klaus Landzettel
Keyword(s):  
Space Robotics ◽  
Control Performance ◽  
Dynamics And Control ◽  
And Control

scholarly journals On nonlinear dynamics and control of a robotic arm with chaos

2014 ◽  
Vol 16 ◽  
pp. 05002 ◽  
Author(s):  
J. L. P. Felix ◽  
E. L. Silva ◽  
J. M. Balthazar ◽  
A. M. Tusset ◽  
A. M. Bueno ◽  
...  
Keyword(s):  
Nonlinear Dynamics ◽  
Robotic Arm ◽  
Dynamics And Control ◽  
And Control ◽  
Nonlinear Dynamics And Control

Dynamics and control of capture of a floating rigid body by a spacecraft robotic arm

2014 ◽  
Vol 33 (3) ◽  
pp. 315-332 ◽  
Author(s):  
Xiao-Feng Liu ◽  
Hai-Quan Li ◽  
Yi-Jun Chen ◽  
Guo-Ping Cai ◽  
Xi Wang
Keyword(s):  
Rigid Body ◽  
Robotic Arm ◽  
Dynamics And Control ◽  
And Control

Vibration Testing and Control of Inflatable Structures Using Smart Materials

2001 ◽  
Author(s):  
Gyuhae Park ◽  
Myung-Hyun Kim ◽  
Matthias Mandin ◽  
Daniel J. Inman
Keyword(s):  
Smart Materials ◽  
Structure Design ◽  
Damping Properties ◽  
Inflatable Structures ◽  
Vibration Testing ◽  
Space System ◽  
Fully Integrated ◽  
Aerospace Structure ◽  
Dynamics And Control ◽  
And Control

Abstract An experimental investigation of vibration testing and control of an inflated thin-film torus is presented. Lightweight inflatable structures are a viable alternative in aerospace structure design. These structures, however, pose special problems in testing and in controlling vibrations due to their extremely lightweight, flexible, and high-damping properties. In this study, we show that smart materials, which can be fully integrated into an inflatable space system, could be used as sensors/actuators in order to find modal parameters and to reduce vibrations. The results indicate the potential smart materials for use in the dynamics and control of inflated structures.

scholarly journals Tutorial Review on Space Manipulators for Space Debris Mitigation

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 34 ◽  
Author(s):  
Ellery
Keyword(s):  
Space Debris ◽  
Short Review ◽  
Space Robotics ◽  
Active Debris Removal ◽  
Space Manipulators ◽  
Debris Removal ◽  
Dynamics And Control ◽  
And Control ◽  
Debris Mitigation ◽  
Physical Manipulation

Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.

Dynamics and Control of a Robotic Arm Having Four Links

2016 ◽  
Vol 42 (5) ◽  
pp. 1841-1852 ◽  
Author(s):  
H. M. Al-Qahtani ◽  
Amin A. Mohammed ◽  
M. Sunar
Keyword(s):  
Robotic Arm ◽  
Dynamics And Control ◽  
And Control

scholarly journals Human-Machine Interface for a Smart Wheelchair

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Amiel Hartman ◽  
Vidya K. Nandikolla
Keyword(s):  
Path Planning ◽  
Computer System ◽  
Motion Control ◽  
Obstacle Detection ◽  
Human Interaction ◽  
Sensor Data ◽  
Distributed Programs ◽  
Computer Cluster ◽  
And Control ◽  
Smart Wheelchair

The paper describes the integration of hardware and software with sensor technology and computer processing to develop the next generation intelligent wheelchair. The focus is a computer cluster design to test high performance computing for smart wheelchair operation and human interaction. The LabVIEW cluster is developed for real-time autonomous path planning and sensor data processing. Four small form factor computers are connected over a Gigabit Ethernet local area network to form the computer cluster. Autonomous programs are distributed across the cluster for increased task parallelism to improve processing time performance. The distributed programs operating frequency for path planning and motion control is 50Hz and 12.3Hz for 0.3 megapixel robot vision system. To monitor the operation and control of the distributed LabVIEW code, network automation is integrated into the cluster software along with a performance monitor. A link between the computer motion control program and the wheelchair joystick control of the drive train is developed for the computer control interface. A perception sensor array and control circuitry is integrated with the computer system to detect and respond to the wheelchair environment. Multiple cameras are used for image processing and scanning laser rangefinder sensors for obstacle avoidance in the cluster program. A centralized power system is integrated to power the smart wheelchair along with the cluster and sensor feedback system. The on board computer system is evaluated for cluster processing performance for the smart wheelchair, incorporating camera machine vision and LiDAR perception for terrain obstacle detection, operating in urban scenarios.

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